EM/APR 2007/KJM457/421

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UNIVERSITI TEKNOLOGI MARA

FINAL EXAMINATION

COURSE

VECTOR DYNAMICS AND VIBRATION

COURSE CODE

KJM457/421

EXAMINATION

APRIL 2007

TIME

3 HOURS

INSTRUCTIONS TO CANDIDATES
1.

This question paper consists of two (2) parts:

PART A (3 Questions)
PART B (3 Questions)

2.

Answer ALL questions in PART A and any two (2) question in PART B.

3.
4.

Answer ALL questions in the Answer Booklet. Start each answer on a new page.
Do not bring any material into the examination room unless permission is given by the
invigilator.

5.

Please check to make sure that this examination pack consists of:
i)
ii)
iii)

the Question Paper

an Answer Booklet - provided by the Faculty
a one - page Appendix

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This examination paper consists of 8 printed pages
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EM/APR 2007/KJM457/421

PART A (40 Marks)

QUESTION 1

The assembly which consists of a sphere of mass 0.5 kg, attached to a hydraulic arm AB of
negligible mass spins about its axis at a constant rate of C02 = 4 rad/s. At the same instant,
the hydraulic arm AB moving outward at a constant rate of b = 2 m/s and rotates at a
constant rate of , = 2 rad/s about its V-axis shaft. For the instant represented in Figure
Q1, determine
a) the angular momentum of the assembly with respect to point A, and
(10 marks)
b) the percentage of angular kinetic energy of the assembly.
(5 marks)

Given:
r = 30mm
/ = 120 mm

Figure Q1

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QUESTION 2

The plate which has a moving belt is rigidly fitted to the rotating arm ABC. At the instant
shown, the arm rotates at the constant rate a> = 5 rad/s while the belt moves at the constant
rate/? = 120 mm/s relative to the plate in the direction as shown in Figure Q2.
a) Determine, at this instant, the absolute velocity and acceleration of point E on the link of
the belt.
(10 marks)
b) Does the acceleration of point on the link of the belt have the Coriolis's terms?
Discuss or explain about your answer.
(2 marks)
c) If we were to determine the acceleration of point H on the link of the belt, will you have
the Coriolis's terms in this acceleration? Discuss or explain about your answer. If your
answer is yes, also compute its value.
(3 marks)

a = 240 mm
b= 100 mm
c = 80 mm
r = 60 mm

Figure Q2

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QUESTION 3

A machine element having a mass of 600 kg is supported by two springs and one damper
as shown. Each spring has a constant of 50 kN/m and the coefficient of damping is 1500
N-s/m.
a) If a periodic force of maximum magnitude equal to 200 N is applied to the element at a
frequency of 3.2 Hz, determine the amplitude of vibration at steady state.
(5 marks)
b) If the damping element is now being removed, determine the critical mass of this
machine element for which the amplitude ratio is most excessive at this same operating
frequency of 3.2 Hz.
(5 marks)

Figure Q3

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PART B (60 Marks)

QUESTION 1
At the instant shown in Figure Q1, collar P is sliding outward at the rate of 1.5 m/s and is
decreasing at 20 m/s2 relative to arm BC which is rotating at the constant rate 6 = 1 rad/s
relative to arm AB which itself is rotating at the constant rate of 4.5 rad/s relative to arm OA.
Knowing that at the same instant, arm OA is rotating at 3 rad/s and is increasing at 5 rad/s2,
determine at this instant,
a) the absolute angular velocity and acceleration of arm OA, arm AB, and arm BC, and
(10 marks)
b) the velocity and acceleration of collar P.
(15 marks)
c) the kinetic energy of collar P if the mass of the collar is 0.45 kg. Does this kinetic energy
change with time? Explain.
(5 marks)

Given:
BP= 100 cm
(9=30

Figure Q1

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QUESTION 2
The 2-kg plate which has a moving belt is rigidly fitted to the rotating arm ABC of negligible
mass. At the instant shown, the arm rotates at the constant rate co = 5 rad/s while the belt
moves at the constant rate p = 120 mm/s relative to the plate in the direction as shown in
Figure Q2.
a) Determine, at this instant, the absolute velocity and acceleration of point D on the link of
the belt.
(8 marks)
b) Do points D and H on the link of the belt have the same velocity? Explain.
(2 marks)
c) Determine the mass moment of inertia of the plate with respect to the centroidal x axis
(i.e. through the centroid C) parallel to the Xaxis and also all products of inertia with
respect to the centroidal planes (i.e. planes through the centroid C).
(8 marks)
d) Determine the dynamic reaction at the support at A. Neglect the mass of the moving
belt.
(10 marks)
e) Does the dynamic reaction at the support at A depend on the speed of rotation of arm
ABC and/or the mass of the plate? Explain.
(2 marks)

a
a = 240 mm
b =100 mm
c = 80 mm

r = 60mm

Figure Q2

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QUESTION 3
a) The square plate ABCD is confined within the slots at A and 6 as shown in
Figure Q3(a). At the instant when G = 30, slot A has a velocity of 8 m/s to the right.
M) Determine at this instant the angular velocity of the plate ABCD and the velocity of
slot B. Discuss your selection of the location of the origin O of the global coordinate
system OXYZ.
(10 marks)
iii) Do you think that we can use the same angular velocity found in part (i) to calculate
the velocity of point C? Discuss your answer. If so, then calculate the velocity of
point C with respect to point A.
(5 marks)

0.3 m

= Q m/s

Figure Q3(a)

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b) The 2.1-kg slender rod ACE is supported at A as shown in Figure Q3(b). A spring and a
dashpot are attached to the rod at point C and its free end E and together they hold the
assembly at rest in the position shown. Use / = 600 mm, k = 0.25 kN/m, and
b = 10Ns/m.
i)

Determine the period of vibration of the assembly when end E of the rod is given a
small displacement and released.
(10 marks)

ii) Classify the type of vibration induced i.e. free or forced, damped or undamped, etc.
(1 mark)
iii) If a constant torque of magnitude 10 N-m is applied to the rod, determine the system
response and calculate the percent maximum overshoot.
(4 marks)

Figure Q3(b)

END OF QUESTION PAPER

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APPENDIX 1

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Main Formulas in Dynamics

Kinematics

R = Ru
R=Ru+QAR
R = Ru + 2QA(Ru) + aAR + QA(QAR)
Moment of Inertia

+Izxuzux)

Iv = Ixu\ +Iruj +Izuj Angular Momentum

Ho = RG AmvG
where

KG

+ H

= Hxi + Hy j + Hzk

HX
Hy
Hz _

Ix
=

-Ixvxy

- I yx

Iy

- I zx

1zy

-Ii xy

lyz
Iz

Moments

where

M_G = Mx I + My j + Mz k

Mx = / ;c &x

\Iy

Iz

)(Oy(Oz

/ j^ - { 1 2 -

ix )a> G)

Mz = U:(XJ-(Ix-

)coxcoy

My=

Kinetic Energy

IzCO2z

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) -

(IxyO)xO)y+

Iy~, 0)yC02+ I zx G)ZG)X)

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